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Vectorize available actions computation

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This commit is contained in:
ebuehrle
2021-10-28 12:35:32 +02:00
parent 039f8a7643
commit f9e058a7d9
2 changed files with 20 additions and 13 deletions
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9
src/gail/options.py
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@@ -48,7 +48,7 @@ class OptionsEnv(gym.Wrapper):
assert self.plan
#assert feasible(self.env, self.plan, self.ch)
while not self.done and self.plan and feasible(self.env, self.plan, self.ch):
while not self.done and self.plan and feasible(self.env, self.plan, self.ch.to('cpu')):
self.a, self.plan = self.plan[0], self.plan[1:]
self.a = self.env._normalize(self.a)
self.nexts, _, self.done, _ = self.env.step(self.a)
@@ -129,7 +129,12 @@ class RenderOptions(LLOptions):
def available_actions(env, options):
"""Return mask of available actions given current `env` state."""
valid = np.array([feasible(env, generate_plan(env, i, options), i) for i in range(len(options))])
plan_indices = list(range(len(options)))
plans = [generate_plan(env, i, options) for i in plan_indices]
T = max(len(p) for p in plans)
plans = [np.pad(p, ((0, T-len(p)),), constant_values=np.nan) for p in plans]
plans = np.stack(plans, axis=0)
valid = feasible(env, plans, plan_indices)
return valid
def target_velocity_plan(current_v: float, target_v: float, t: int, dt: float):